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Deflection Modeling of a Manipulator for Mechanical Design

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EuCoMeS 2018 (EuCoMeS 2018)

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 59))

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Abstract

A manipulator model for use in a design process of manipulator mechanics is shown in this paper. The target is to minimize deformation and vibrations in application. The focus is to model manipulator components and merge them in a manipulator model. The proposed model uses the Floating Frame of Reference approach for modeling the structural parts of the manipulator. The elastic modeling of bearings is introduced. An approach to consider stiffness and damping of bolted joint is presented. The cable stiffness is calculated. A simple drivetrain model is derived.

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Author information

Authors and Affiliations

  1. KUKA Roboter GmbH, Augsburg, Germany

    Tobias Weiser

  2. Department of Mechanism Theory, Dynamics of Machines and Robotics, RWTH Aachen University, Aachen, Germany

    Burkhard Corves

Authors
  1. Tobias Weiser
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  2. Burkhard Corves
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Corresponding author

Correspondence to Tobias Weiser .

Editor information

Editors and Affiliations

  1. Institute of Mechanism Theory, Machine Dynamics and Robotics, RWTH Aachen University, Aachen, Nordrhein-Westfalen, Germany

    Burkhard Corves

  2. LS2N, Ecole Centrale de Nantes, Nantes, France

    Philippe Wenger

  3. Institute of Mechanism Theory, Machine Dynamics and Robotics, RWTH Aachen University, Aachen, Germany

    Mathias Hüsing

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Weiser, T., Corves, B. (2019). Deflection Modeling of a Manipulator for Mechanical Design. In: Corves, B., Wenger, P., Hüsing, M. (eds) EuCoMeS 2018 . EuCoMeS 2018. Mechanisms and Machine Science, vol 59. Springer, Cham. https://doi.org/10.1007/978-3-319-98020-1_36

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